The Development Of The Key Technology Of UAV Target Tracking Based On Binocular Vision

UAV target tracking technology has a wide range of application prospects and application value in military,industrial and civil aspects.This paper uses the UAV target tracking system based on the eight rotor as research object,the experiment platform of UAV target tracking has been built,the method of target tracking based on binocular vision has been designed,and the target tracking method has been verified on target tracking system.The main work of this paper is as follows:First,it has analyzed the overall demand of UAV target tracking system,and put forward the scheme of the overall structure of UAV target tracking system,introduced the main hardware on UAV target tracking system and the connection between them,and the main software applied to the system has been described.Secondly,it has proposed the target tracking method based on multi feature and local joint sparse encoding in order to solve the problem which the result of target tracking is easy to be disturbed by partial occlusion,shape changes and illumination changes,and this method has been test in Visual Tracker Benchmark.Then,in order to get the tracking target position in three-dimensional space,it has discussde the principle of binocular vision system and semi global characteristics matching method based on the BT algorithm,and designed the method of target location based on binocular vision.Finally,the target tracking and target location methods have been simulated in Gazebo environment,and the target tracking experiment has been carried out on the UAV target tracking platform In addition,in order to achieve the goal of tracking initialization,it has designed and implemented the image transmission system based on ROS and OpenCV,and realized the UAV localization in three-dimensional space based on the ZED binocular camera visual odometry function.